M.T. Rosenstein and R.A. Grupen. Velocity-dependent dynamic manipulability.
In Proceedings of the IEEE International Conference on Robotics and
Automation, vol. 3, 2424-2429, 2002.

Abstract:
Measures of dynamic manipulability summarize a manipulator's capacity
to generate accelerations for arbitrary tasks, and such measures are
useful tools for the design and control of general-purpose robots.
Existing measures, however, downplay the effects of velocity or else
ignore them altogether. In this paper we derive the relationship
between joint velocity and end-effector acceleration, and through case
studies we demonstrate that velocity has a complex, non-negligible
effect on manipulability. We also provide evidence that movement near
a singularity is beneficial for certain tasks.